version: 66.12
glider: 204
mission: 15
dive: 101
start: 3 19 115 21 50 39
data:
$ID,204
$MISSION,15
$DIVE,101
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,190315,214422,1412.7487,14546.5029,42,0.9,42,1.1,0.0,0.0,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.0
$GPS2,190315,215028,1412.7570,14546.4590,6,0.7,6,1.1,0.5,277.3,12,13.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,74.9,126768,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.80,-175.2,194,2625,797,802,0.0,0.0,0,143,0.00,0.00,-50.17,0.000,16386,0.000,0.000,194,2625,2170,2139,2201,0,0,0,0,0,0,26.15,28.83,26.22
$GC,145,-0.80,-175.2,196,2625,2139,2202,3.3,-4.7,8,193,11.73,1.67,-32.42,0.000,18692,0.233,0.063,2996,3692,3555,3529,3582,0,0,0,0,0,0,25.73,24.58,25.89
$GC,254,-0.80,-175.2,2995,3692,3530,3585,27.4,-28.0,28,264,0.00,1.52,0.00,0.000,1030,0.000,0.020,3002,2586,3556,3529,3584,0,0,0,0,0,0,26.22,26.20,26.24
$GC,569,-0.80,-175.2,3002,2586,3531,3584,106.4,-23.5,67,575,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2586,3557,3530,3585,0,0,0,0,0,0,26.22,26.27,26.27
$GC,869,-0.80,-175.2,3001,2586,3534,3585,166.4,-21.1,97,876,0.00,1.70,0.00,0.000,260,0.000,0.044,2995,3691,3559,3533,3585,0,0,0,0,0,0,26.23,26.15,26.29
$GC,940,-0.80,-175.2,2996,3692,3532,3587,181.2,-19.8,104,947,0.00,1.50,0.00,0.000,1030,0.000,0.021,3002,2595,3559,3533,3585,0,0,0,0,0,0,26.27,26.25,26.28
$GC,1261,-0.80,-175.2,3002,2596,3535,3588,234.9,-15.7,122,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2595,3561,3535,3587,0,0,0,0,0,0,26.26,26.32,26.32
$GC,1561,-0.80,-175.2,3002,2596,3536,3588,275.7,-14.0,132,1570,0.00,2.00,0.00,0.000,516,0.000,0.028,3010,1242,3564,3542,3587,0,0,0,0,0,0,26.27,26.22,26.32
$GC,1639,-0.80,-175.2,3010,1241,3537,3587,283.3,-13.5,134,1646,0.00,2.05,0.00,0.000,1030,0.000,0.033,3001,2596,3561,3535,3587,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1944,-0.80,-175.2,3001,2597,3536,3588,325.5,-12.9,144,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2596,3561,3535,3587,0,0,0,0,0,0,26.25,26.32,26.31
$GC,2244,-0.80,-175.2,3001,2595,3536,3585,367.0,-14.0,154,2251,0.00,1.67,0.00,0.000,260,0.000,0.043,2993,3698,3559,3535,3584,0,0,0,0,0,0,26.27,26.15,26.31
$GC,2320,-0.80,-175.2,2993,3698,3536,3584,375.5,-13.9,156,2327,0.00,1.52,0.00,0.000,1030,0.000,0.022,2999,2607,3559,3535,3584,0,0,0,0,0,0,26.32,26.27,26.32
$GC,2636,-0.80,-175.2,3000,2608,3535,3582,417.6,-12.3,167,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2607,3557,3534,3581,0,0,0,0,0,0,26.25,26.31,26.30
$GC,2936,-0.80,-175.2,2999,2606,3532,3577,450.9,-10.8,177,2943,0.00,2.05,0.00,0.000,516,0.000,0.024,3010,1208,3553,3530,3577,0,0,0,0,0,0,26.25,26.21,26.31
$GC,2967,-0.80,-175.2,3011,1210,3531,3579,454.5,-10.8,178,2975,0.00,2.12,0.00,0.000,1030,0.000,0.031,3001,2608,3553,3530,3577,0,0,0,0,0,0,26.25,26.19,26.27
$GC,3294,-0.80,-175.2,3001,2610,3527,3576,491.1,-11.5,189,3302,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3691,3550,3526,3574,0,0,0,0,0,0,26.25,26.13,26.31
$GC,3345,-0.80,-175.2,2992,3691,3527,3574,494.9,-11.7,190,3352,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2580,3549,3526,3573,0,0,0,0,0,0,26.29,26.26,26.29
$GC,3656,-0.80,-175.2,2999,2580,3524,3570,535.2,-12.2,201,3667,0.00,2.00,0.00,0.000,516,0.000,0.025,3009,1225,3546,3523,3570,0,0,0,0,0,0,26.22,26.17,26.29
$GC,3718,-0.80,-175.2,3010,1226,3523,3573,542.3,-12.2,203,3728,0.00,2.10,0.00,0.000,1030,0.000,0.030,3000,2607,3546,3522,3570,0,0,0,0,0,0,26.22,26.17,26.24
$GC,4047,-0.80,-175.2,3001,2608,3520,3567,582.0,-12.2,214,4054,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3684,3543,3518,3568,0,0,0,0,0,0,26.21,26.10,26.27
$GC,4078,-0.80,-175.2,2993,3690,3519,3567,585.9,-12.2,215,4085,0.00,1.55,0.00,0.000,1030,0.000,0.022,2999,2612,3542,3518,3567,0,0,0,0,0,0,26.24,26.22,26.25
$GC,4409,-0.80,-175.2,3000,2614,3516,3565,623.1,-11.1,226,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2612,3539,3515,3564,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4709,-0.80,-175.2,2998,2613,3513,3563,655.8,-10.8,236,4717,0.00,2.08,0.00,0.000,516,0.000,0.026,3009,1212,3537,3512,3562,0,0,0,0,0,0,26.21,26.13,26.27
$GC,4736,-0.80,-175.2,3009,1212,3513,3561,658.6,-10.7,237,4746,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2600,3536,3512,3561,0,0,0,0,0,0,26.21,26.15,26.23
$GC,5070,-0.80,-175.2,3000,2600,3510,3559,693.6,-10.3,248,5080,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3702,3533,3509,3558,0,0,0,0,0,0,26.20,26.07,26.25
$GC,5113,-0.80,-175.2,2992,3702,3510,3558,697.2,-10.3,249,5121,0.00,1.58,0.00,0.000,1030,0.000,0.024,2999,2599,3533,3509,3558,0,0,0,0,0,0,26.22,26.18,26.22
$GC,5435,-0.80,-175.2,2999,2599,3507,3557,729.0,-9.5,260,5442,0.00,2.08,0.00,0.000,516,0.000,0.028,3008,1224,3530,3506,3555,0,0,0,0,0,0,26.19,26.11,26.25
$GC,5471,-0.80,-175.2,3010,1220,3507,3555,731.9,-9.5,261,5479,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2603,3531,3507,3555,0,0,0,0,0,0,26.15,26.08,26.17
$GC,5793,-0.80,-175.2,3000,2604,3505,3554,763.5,-9.9,272,5800,0.00,2.08,0.00,0.000,516,0.000,0.025,3009,1216,3528,3504,3553,0,0,0,0,0,0,26.17,26.10,26.23
$GC,5819,-0.80,-175.2,3009,1216,3504,3553,766.1,-10.0,273,5827,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2601,3528,3504,3552,0,0,0,0,0,0,26.13,26.07,26.13
$GC,6151,-0.80,-175.2,3000,2600,3503,3550,799.3,-10.2,284,6159,0.00,1.73,0.00,0.000,260,0.000,0.045,2992,3687,3526,3502,3551,0,0,0,0,0,0,26.19,26.03,26.24
$GC,6193,-0.80,-175.2,2993,3688,3503,3552,802.7,-10.2,285,6202,0.00,1.55,0.00,0.000,1030,0.000,0.022,2999,2589,3526,3502,3550,0,0,0,0,0,0,26.16,26.14,26.17
$GC,6515,-0.80,-175.2,2999,2589,3501,3549,836.9,-10.4,296,6523,0.00,2.05,0.00,0.000,516,0.000,0.026,3009,1212,3524,3499,3549,0,0,0,0,0,0,26.13,26.08,26.19
$GC,6557,-0.80,-175.2,3009,1212,3501,3549,839.8,-10.6,297,6565,0.00,2.15,0.00,0.000,1030,0.000,0.032,3000,2604,3524,3499,3549,0,0,0,0,0,0,26.12,26.06,26.14
$GC,6869,-0.80,-175.2,3000,2605,3498,3549,871.8,-9.7,308,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2604,3523,3498,3548,0,0,0,0,0,0,26.15,26.21,26.20
$GC,7169,-0.80,-175.2,3000,2605,3497,3547,899.7,-9.3,318,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2604,3521,3496,3546,0,0,0,0,0,0,26.14,26.22,26.20
$GC,7469,-0.80,-175.2,3000,2604,3496,3545,928.8,-9.8,328,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2604,3519,3495,3544,0,0,0,0,0,0,26.13,26.20,26.20
$GC,7769,-0.80,-175.2,3001,2605,3494,3545,960.4,-10.8,338,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2604,3518,3492,3544,0,0,0,0,0,0,26.12,26.19,26.17
$STATE,8067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8071,-0.17,0.0,3001,2428,3492,3544,993.0,-10.8,348,8217,0.75,0.00,138.48,1.287,10246,0.156,0.000,3210,2426,2838,2812,2865,0,0,0,0,0,0,25.69,24.74,23.98
$STATE,8217,end apogee,CONTROL_FINISHED_OK
$STATE,8217,begin climb
$GC,8218,0.80,175.2,3212,2427,2809,2863,999.8,0.0,352,8377,1.05,2.15,146.60,1.260,10500,0.139,0.044,3512,3694,2120,2115,2125,0,0,0,0,0,0,24.86,24.14,23.42
$GC,8596,0.91,251.2,3512,3695,2111,2115,991.5,7.1,365,8676,0.15,1.88,63.47,1.261,11270,0.148,0.021,3558,2405,1808,1808,1808,0,0,0,0,0,0,25.50,25.72,24.11
$GC,8971,0.91,251.2,3559,2405,1802,1797,953.8,10.4,378,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2405,1799,1802,1797,0,0,0,0,0,0,26.00,26.07,26.06
$GC,9271,0.91,251.2,3558,2406,1801,1796,922.1,10.7,388,9279,0.00,2.03,0.00,0.000,260,0.000,0.044,3549,3694,1797,1800,1795,0,0,0,0,0,0,26.13,26.07,26.20
$GC,9312,0.91,251.2,3550,3695,1801,1796,919.0,10.8,389,9321,0.00,1.83,0.00,0.000,1030,0.000,0.022,3558,2422,1797,1800,1795,0,0,0,0,0,0,26.20,26.17,26.20
$GC,9624,0.91,251.2,3558,2421,1801,1793,883.2,11.2,400,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2421,1796,1799,1793,0,0,0,0,0,0,26.17,26.24,26.22
$GC,9925,0.91,251.2,3558,2422,1800,1792,851.3,10.6,410,9932,0.00,2.00,0.00,0.000,260,0.000,0.043,3546,3693,1795,1798,1793,0,0,0,0,0,0,26.17,26.06,26.23
$GC,9951,0.91,251.2,3549,3694,1799,1794,848.3,10.8,411,9959,0.00,1.83,0.00,0.000,1030,0.000,0.022,3558,2422,1796,1799,1793,0,0,0,0,0,0,26.19,26.16,26.20
$GC,10283,0.91,251.2,3558,2422,1799,1792,812.3,10.6,422,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2422,1798,1805,1792,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10583,0.91,251.2,3559,2423,1798,1793,779.6,11.0,432,10591,0.00,2.00,0.00,0.000,260,0.000,0.044,3549,3694,1794,1797,1791,0,0,0,0,0,0,26.13,26.03,26.20
$GC,10619,0.91,251.2,3550,3694,1799,1791,776.3,11.2,433,10627,0.00,1.85,0.00,0.000,1030,0.000,0.022,3558,2409,1794,1797,1791,0,0,0,0,0,0,26.19,26.16,26.19
$GC,10936,0.91,251.2,3558,2406,1797,1792,739.5,11.2,444,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2406,1793,1796,1791,0,0,0,0,0,0,26.13,26.20,26.19
$GC,11235,0.91,251.2,3558,2405,1797,1790,706.5,10.9,454,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2405,1793,1796,1790,0,0,0,0,0,0,26.14,26.21,26.20
$GC,11536,0.91,251.2,3558,2405,1797,1790,675.6,10.2,464,11543,0.00,2.05,0.00,0.000,260,0.000,0.044,3549,3700,1795,1800,1790,0,0,0,0,0,0,26.12,25.98,26.17
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$STATE,17722,end climb,SURFACE_DEPTH_REACHED
$STATE,17722,begin surface coast
$FINISH,0.9,1.008139
$STATE,17738,end surface coast,CONTROL_FINISHED_OK
$STATE,17738,begin surface
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$IRIDIUM_FIX,1407.51,14544.04,140108,111207
$TT8_MAMPS,0.054677,0.054677
$HUMID,35.50
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17722.62 7640.12
$PA_BOOTCOUNT,906
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$PA_HOME,0.05/0.089/1.856/1.673
$PA_DISK_BANK,1
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$10V_AH,10.07,31.907
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.100,119.650,515.625,13.600,0.000,0.000,0.000,282.475,0.000,18163.900,6.565,0.000,14253.745,585.574,3179.141,106.651,0.000,2272.718,0.000,1788.547,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,568.521,0.000,0.000,0.000,0.000,0.000,18163.920,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229608
$DATA_FILE_SIZE,36728,842
$CAP_FILE_SIZE,150667,0
$CFSIZE,1024393216,1008271360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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